ATE504873T1 - CONTROL DEVICE FOR POSITION CONTROL OF A HYDRAULIC CYLINDER UNIT, WITH LINEARIZATION UNIT - Google Patents

CONTROL DEVICE FOR POSITION CONTROL OF A HYDRAULIC CYLINDER UNIT, WITH LINEARIZATION UNIT

Info

Publication number
ATE504873T1
ATE504873T1 AT08803773T AT08803773T ATE504873T1 AT E504873 T1 ATE504873 T1 AT E504873T1 AT 08803773 T AT08803773 T AT 08803773T AT 08803773 T AT08803773 T AT 08803773T AT E504873 T1 ATE504873 T1 AT E504873T1
Authority
AT
Austria
Prior art keywords
unit
linearization
controller
actual
hydraulic cylinder
Prior art date
Application number
AT08803773T
Other languages
German (de)
Inventor
Wilfried Tautz
Dietrich Wohld
Original Assignee
Siemens Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Ag filed Critical Siemens Ag
Application granted granted Critical
Publication of ATE504873T1 publication Critical patent/ATE504873T1/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/27—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device
    • G05B19/29—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device for point-to-point control
    • G05B19/291—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an absolute digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
    • G05B19/35—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control
    • G05B19/351—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/58—Roll-force control; Roll-gap control
    • B21B37/62—Roll-force control; Roll-gap control by control of a hydraulic adjusting device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41124—Nonlinear compensation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41309—Hydraulic or pneumatic drive

Abstract

A control device for the position control of a hydraulic cylinder unit has a controller which receives a set and an actual piston position and determines a preliminary manipulated variable based on the difference of the set and actual positions. A linearization unit multiplies the variable with a linearization factor and outputs it to the valve control unit so that the piston is adjusted at an adjustment speed. The linearization unit determines the factor dynamically as a function of the actual piston position and of working pressures that prevail at both piston sides. The linearization factor is determined such that a ratio of the adjustment speed to the difference of the set and actual positions is independent of the actual position and the working pressures. In the specific case where the controller is configured as a P controller, the order of the controller and the linearization unit can be reversed.
AT08803773T 2007-10-30 2008-09-05 CONTROL DEVICE FOR POSITION CONTROL OF A HYDRAULIC CYLINDER UNIT, WITH LINEARIZATION UNIT ATE504873T1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007051857A DE102007051857B3 (en) 2007-10-30 2007-10-30 Control device for position control of a hydraulic cylinder unit with linearization unit
PCT/EP2008/061804 WO2009056378A2 (en) 2007-10-30 2008-09-05 Control device for the position control of a hydraulic cylinder unit, comprising a linearization unit

Publications (1)

Publication Number Publication Date
ATE504873T1 true ATE504873T1 (en) 2011-04-15

Family

ID=40459218

Family Applications (1)

Application Number Title Priority Date Filing Date
AT08803773T ATE504873T1 (en) 2007-10-30 2008-09-05 CONTROL DEVICE FOR POSITION CONTROL OF A HYDRAULIC CYLINDER UNIT, WITH LINEARIZATION UNIT

Country Status (8)

Country Link
US (1) US8301276B2 (en)
EP (1) EP2206031B1 (en)
CN (1) CN101842760B (en)
AT (1) ATE504873T1 (en)
DE (2) DE102007051857B3 (en)
PT (1) PT2206031E (en)
RU (1) RU2464618C2 (en)
WO (1) WO2009056378A2 (en)

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EP2275886A1 (en) 2009-07-03 2011-01-19 Siemens Aktiengesellschaft Control device for a hydraulic cylinder unit
EP2270613A1 (en) * 2009-07-03 2011-01-05 Siemens Aktiengesellschaft Load force control for a hydraulic cylinder unit with load observer
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FR2975774B1 (en) 2011-05-25 2014-01-17 Eurocopter France METHOD FOR DETERMINING THE STATIC EFFORT DEVELOPED BY A SERVOCOMMANDE
EP2664968A1 (en) 2012-05-16 2013-11-20 Siemens Aktiengesellschaft Control device for a hydraulic cylinder unit with single valve control
EP2937746A1 (en) 2014-04-25 2015-10-28 Siemens Aktiengesellschaft Control device for a hydraulic cylinder unit with optimised linearisation
JP6308914B2 (en) * 2014-08-19 2018-04-11 株式会社日立製作所 Hydraulic reduction control device, adjustment method and control program for hydraulic reduction control device
EP3196623A1 (en) 2016-01-25 2017-07-26 Primetals Technologies Germany GmbH Simple leakage detection in a hydraulic cylinder unit
WO2018153524A1 (en) * 2017-02-24 2018-08-30 Siemens Wind Power A/S Method and arrangement to detect an oil leakage between sections of a hydraulic cylinder
DE102019209091A1 (en) * 2019-06-24 2020-12-24 Festo Se & Co. Kg Method for operating a fluid system, fluid system and computer program product
IT201900020156A1 (en) * 2019-10-31 2021-05-01 Fondazione St Italiano Tecnologia Method for controlling the force of a pneumatic actuation device

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Also Published As

Publication number Publication date
US8301276B2 (en) 2012-10-30
DE502008003146D1 (en) 2011-05-19
WO2009056378A2 (en) 2009-05-07
DE102007051857B3 (en) 2009-04-23
RU2010121777A (en) 2011-12-10
PT2206031E (en) 2011-05-31
CN101842760A (en) 2010-09-22
EP2206031B1 (en) 2011-04-06
WO2009056378A3 (en) 2009-09-17
CN101842760B (en) 2012-05-30
RU2464618C2 (en) 2012-10-20
EP2206031A2 (en) 2010-07-14
US20100294125A1 (en) 2010-11-25

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